Here is part 2 of the robotic arm tutorial. Click here for the first part.
If you've managed to perform Part 1 of the tutorial successfully, then in the command line in the 'voxforge/auto' directory, run:
julius -input mic -C julian.jconf
Julius should then wait for microphone input, and if you speak into the microphone, for example 'elbow up' then it should print output similar to the following: